KR20170089716A - System and method for dynamic positioning of vessel - Google Patents

Abstract

According to the present invention, a system for dynamically controlling a position of a floating structure includes: a structure body; a sensing portion for measuring a position of the structure body in a vertical direction or a horizontal direction; a propulsion portion for changing the position of the structure body in the vertical direction or the horizontal direction; and a control portion for comparing a value measured by the sensing portion with a predetermined value or controlling the propulsion portion by a users selection. The propulsion portion is positioned below a surface of water, and one or more propulsion portions are provided on the bottom and the side of the structure body, thereby moving the structure body in the horizontal direction or the vertical direction. Accordingly, the present invention aims to provide a system and method for dynamically controlling a position of a floating structure, which is capable of mooring a floating structure to a predetermined position on the sea, stably controlling the horizontal and vertical positions even in response to a change of the ebb and flow and a change of wave energy, and easily moving the floating structure as necessary.

Description

Technical Field [0001] The present invention relates to a system and method for dynamic positioning of a floating structure,

The present invention relates to a system and method for dynamic position control of a floating structure, and more particularly, to a system and method for dynamic position control of a floating structure, in which a floating structure is moored at a predetermined position and horizontal and vertical positions are controlled, And more particularly, to a system and method for dynamic position control of a cooling structure.

There are breakwaters, barges and aquaculture facilities on the sea. Breakwater is a facility to protect harbor facilities or ships from the waves of the outer sea and is usually provided as a gravity structure fixed to the seabed. Since the gravity type breakwater is a structure that is constructed integrally from the sea floor to the sea surface, it is advantageous that the structure is stable. However, since the seawater is blocked, the seawater circulation in the sea is not smooth, The dredging and the materials of the facilities are increased, and the difficulty of underwater construction is high.

In order to solve these problems, a float type breakwater has been developed in which floating structures are floated on the sea surface and fixed to the sea floor with fixing devices such as chains and cables. Such float type breakwaters are advantageous in that they can be installed in a short time at a low cost .

However, it is difficult to horizontally and vertically move the floating breakwater, and the cable (chain), which is a fixing device, is caught between the moving object and the moving object. Therefore, it is inconvenient to periodically remove fish and shellfish or foreign matter attached to the cable. In addition, there is a problem that the degree of submergence is changed according to the change of the wave energy and the tidal range only, and the horizontal position of the floating structure changes according to the flow of the tidal current.

In addition, the barge is a non-powered ship carrying cargo or construction equipment for marine work and carrying out maritime work. It is used for transporting a large amount of construction materials and construction equipments to sea, It refers to a boat manufactured in a space-secured form. Generally, the barge is floated in the sea to minimize the shaking or movement, so that the support cable with the anchor is lowered from the four corners of the hull to the seafloor, or the round or square spud is lowered vertically down to the sea floor, In the same manner as described above.

However, in the case of a conventional barge using a support cable, it is difficult to move horizontally and vertically, the use of the barge is restricted to a small barge, and the marine vessel moves excessively along with the waves, There is a problem that it is affected by the weak sea weather. In addition, it is necessary to install at least four expensive spuds in order to maintain the balance of barge line. Therefore, it is necessary to construct equipment, input and installation is complicated and operation cost is high. There is a problem that it should be assisted.

In addition, the aquaculture facility is provided with a superstructure suspended above the surface of the water and a substructure in which the aquaculture is cultured and is fixed to the seabed surface by a fixing device such as a wire or cable so as not to move in accordance with the flow of the tide.

However, since it is fixed on the sea floor, it is difficult to move horizontally and vertically, and an accident occurs due to collision or twist between a fixing device for fixing the aquaculture facility to the sea floor and moving objects, and to remove algae, There is a problem in that periodic management is required.

Patent Publication No. 10-2011-0069407 (Published Date: June 23, 2011)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a tilting structure capable of mooring a floating structure at a predetermined position and controlling stable horizontal and vertical positions, And to provide a system and method for dynamic position control of a floating structure that can be moved.

According to an aspect of the present invention, there is provided a dynamic position control system for a floating structure, including a structure body, a sensing unit for measuring a position of the structure body in a vertical direction or a horizontal direction, And a control unit for comparing the measured value with a predetermined value or controlling the propulsion unit by a user's selection, wherein the propulsion unit is located below the water surface, At least one side surface of the structure body is moved in the horizontal direction or the vertical direction.

The driving unit may be a power unit and a driving unit, and the driving unit may be a propeller connected to the driving motor and the driving motor, or may be a pump impeller or a blade.

Further, the power source unit is provided with a power source from at least one of wind power, solar heat, wave power, and tidal power generation.

The sensing unit may include at least one of a GPS, a differential position meter, an MRU, a laser reflector, a microwave reflector, and a gyroscope.

In addition, the structure body is provided in at least one of a floating breakwater, a barge, and an aquaculture facility.

The display unit may further include a touch screen or a tablet for directly controlling the pushing unit by referring to a value measured by the sensing unit, .

The server further includes a server for transmitting and receiving data between the sensing unit, the propulsion unit, and the control unit. The data transmitted to and received from the server are accumulated and notified to the user or information about the environment and the situation of the area where the structure body is installed To the control unit.

According to an aspect of the present invention, there is provided a dynamic position control method for a floating structure, including: sensing a position of a structure body in a vertical direction or a horizontal direction; comparing a value measured in the sensing step with a preset value A control step of controlling the position of the structure body by a user's selection, and a propulsion step of changing the position of the structure body in a vertical direction or a horizontal direction by the control step, Wherein the structure body is provided in at least one of a bottom surface and a side surface of the structure body, thereby moving the structure body in a horizontal direction or a vertical direction.

The dynamic position control system of the floating structure according to the present invention includes a sensing unit capable of measuring a dynamic position change of a floating structure and a plurality of propulsion units capable of controlling in a horizontal direction and a vertical direction, It can be easily moved in the vertical direction and stably can be moored in the sea without a separate fixing device.

1 is a perspective view showing an example in which a dynamic position control system of a floating structure according to the present invention is applied,
FIG. 2 is an internal perspective view and partial enlarged view of the floating structure according to FIG.
Figure 3 is an internal top view of the floating structure according to Figure 1,
FIG. 4 is an explanatory view showing another example in which the dynamic position control system of the floating structure according to the present invention is applied;
FIG. 5 is an explanatory view showing another example in which the dynamic position control system of the floating structure according to the present invention is applied;
6 is a block diagram of a dynamic position control system of a floating structure according to the present invention;
7 is a flowchart of a dynamic position control method of a floating structure according to the present invention.

Hereinafter, a system and method for dynamic position control of a floating structure according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. do. The present invention is not limited to the embodiments described herein, but may be embodied in various different forms. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

The floating structure according to the present invention is installed on the water surface and includes most ships including facilities such as floating breakwaters, barges and aquaculture facilities, and can be applied to floating structures of sea or inland water. In addition, the dynamic position control system and method of the floating structure according to the present invention can be applied to various marine structures, underwater facilities, and the like.

1 is a perspective view showing an example in which a dynamic position control system of a floating structure according to the present invention is applied to a barge or a ship. As shown in the figure, the hexahedral body represents the structure body 100, and it is possible to move the horizontal or vertical position of the structure body 100 within the structure body 100 located below the water surface, A plurality of propelling units 400 are provided.

The sensing unit 200 may measure the position of the structure body 100 in the vertical or horizontal direction. The sensing unit 200 may compare the measured value with a predetermined value, And a control unit 300 for controlling the display unit 400.

The propulsion unit 400 is located below the water surface and is provided on one or more of the bottom surface and the side surface of the structure body 100 to move the structure body 100 in various directions such as a horizontal direction, I will.

The dynamic position control system of the floating structure according to the present invention can prevent the vertical movement in the vertical direction and the stable movement in the horizontal direction and the rotation echo by providing the propelling part 400 provided with the propeller- It is possible. In other words, the floating structure according to the present invention can control the position in the horizontal direction, and can move the floating structure according to the control of the user or the command of the other control unit. The number of the propulsion units 400, And the like.

2 is an internal perspective view of the barge, which is the floating structure shown in FIG. As shown in the figure, at least one propelling part 400 is provided inside the structure body 100, and a sensing part 200 for measuring status information such as a vertical position and a horizontal position of the structure body 100 is provided .

The sensing unit 200 may be installed inside the structure body 100 or outside the structure body 100 as shown in FIG. The sensing unit 200 includes a GPS, a Differential GPS (DGPS), a Motion Reference Unit (MRU), a laser reflector, a microwave reflector, a depth measuring unit, a gyroscope, As shown in FIG.

The gyroscope can measure the heading angle of the floating structure and transmit the corresponding electrical signal to the controller 300. The attitude of the gyroscope can be controlled using inertia when the structure body 100 is moved. The principle and operation method of the gyroscope will be described as follows.

A gyroscope is a gimbal designed to keep horizontal even if the propeller is tilted, and a disc rotating about 1,000 to 24,000 times a minute in a gimbal keeps its rotation axis and always rotates in the same direction. When three axes orthogonal to each other are connected to the gimbal by connecting the accelerometer to the gimbal, the acceleration occurring at the top, bottom, left and right and front and rear can be measured. If the integration is performed, the velocity and position of the moving object can be calculated. By utilizing the characteristic of the gyroscope which always maintains the constant direction, it is possible to use the gyroscope to prevent the left and right rocking (rolling) by detecting the angles of the flow of the sea water by releasing the pins in both sides of the water in the ship or the floating structure.

Cyscan (Laser Reflectance), Artemis or Radascan (microwave reflection) Acoustic sensor (underwater sonic wave) for measuring the position relative to the floating structure and transmitting the corresponding electrical signal to the controller 300. [ ). ≪ / RTI > In addition, the exercise meter measures the posture of the floating structure, i.e., pitch, rolling, and heave, and transmits the corresponding electrical signal to the controller 300.

In some cases, the sensing unit 200 may further include an air flow meter. The air flow meter measures the wind direction and the wind speed, and transmits the corresponding electrical signal to the controller 300. Accordingly, the floating structure can be influenced by the wind to measure the degree of movement in the vertical or horizontal direction, and the driving force or the propulsion direction of the propelling unit 400 can be controlled together. Accordingly, it is possible to stably control the dynamic position of the floating structure by taking into account the influences of the wind as well as the flow of the current.

In addition, the sensing unit 200 can be used with various depth measuring means, and the depth measuring means measures the depth of the floating structure with respect to the sea surface. At this time, the depth measuring means may be installed on the outer surface of the floating structure 100 in the longitudinal direction, and the depth of the floating structure 100 may be measured by detecting the length of the surface of the floating structure 100 .

The measuring unit measures the position of the floating structure and transmits the corresponding electrical signal to the controller 300. The controller 300 converts various data such as the position information of the received floating structure into predetermined data Or controls the propulsion unit 400 in comparison with a required value.

The driving unit 430 includes a propeller 433, a driving motor 431 for rotating the propeller 433 and a driving shaft 435 and a driving unit 430 for driving the driving unit 430 And a power supply unit 410 for supplying power.

In addition to the propeller, the driving unit 430 may be provided with an impeller or a blade rotating by a pump (not shown), or may be replaced with various means for generating driving force capable of moving in other fluids. The propeller 433 of the propelling unit 400 may be provided on the water surface to control the dynamic position of the floating structure using wind power.

The power unit 410 may be provided from at least one of an electric device, for example, a battery, a small power generation facility, and the like, or a wind power, a solar heat, a wave power, or a tidal power using a natural environment. That is, since the floating structure according to the present invention is installed on the sea, eco-friendly energy can be used to prevent environmental pollution.

The power supply unit 410 may be provided inside the structure body 100 to supply power to the driving unit 430 or may be powered by a wireless power transmission device, as the case may be. The power unit 410 may be integrally formed with the driving unit 430 and may be provided in the propelling unit 400 of the structure body 100.

3 is a plan view of a structure body 100 provided with a dynamic position control system for a floating structure according to the present invention. As shown in the figure, at least one sensing unit 200 is provided inside the structure body 100, and the control unit 300 compares and analyzes the values measured by the sensing unit 200, .

At least one of the propelling portions 400 may be disposed at each corner of the bottom surface, and at least one pair of the propelling portions 400 may be disposed on the side surface of the structure body 100 . That is, as shown in the figure, four are provided on the bottom surface, and one is provided on each of the front and rear sides. The number and position of the structure body 100 may vary depending on the environment in which the structure body 100 is located, .

In addition, the propulsion unit 400 disposed on the bottom surface is controlled in accordance with a measured value of the vertical movement or depth of the structure body 100, Is controlled according to the measurement value for the movement or the position of the moving object 100 in the horizontal direction. In addition, the propulsion units 400 disposed on the bottom surface and the side surface may be driven simultaneously or in some cases, respectively.

FIG. 4 shows another example in which the dynamic position control system of the floating structure according to the present invention is applied to a floating breakwater. That is, the structure body 100 is provided under the float breakwater to control the vertical and horizontal positions of the float breakwater and enable horizontal movement if necessary. In addition, the barge line in which the above-described dynamic position control system is constructed may be combined with a floating breakwater to realize the object of the present invention.

Unlike gravity type breakwaters, floating breakwaters are moored in the sea in a state capable of flowing on the sea surface, and are controlled by a fixing device such as a cable. The floating breakwaters according to the present invention are constructed by using the dynamic position control system described above, Direction and the horizontal direction.

The floating breakwater according to another embodiment of the present invention floats on the sea and cancels the wave energy to minimize the wave energy delivered to the sea. The floating breakwater includes a sofa block 120, a buoyancy holding part 130, a sensing part 200, a control part 300 and a structure body 100. The structure body 100 is provided with one or more pushing parts 400 ).

The sensing unit 200 may be installed at one or more of the structure body 100, the sofa block 120 and the buoyancy holding unit 130. The sensing unit 200 may compare and / The control unit 300 may be installed in the floating breakwater or may be installed at a separate place that can be controlled by the user.

In addition, the floating breakwater may further include a vertical propellant, and an anteroposterior propellant. The buoyancy holding part 130 has a floating space formed therein to maintain buoyancy of the floating breakwaters. At this time, the buoyancy holding part 130 may be made of iron, concrete, or the like, and a floating breakwater can be floated to the sea by blocking the end part to include air therein.

As shown in FIG. 4, the buoyancy holding portion 130 may be formed to be connected to the lower surface of the sofa storage 120 by being connected to the sofa block 120. In addition, the shape of the sofa block 120 and the buoyancy holding part 130 is not limited to the illustrated shape, and may be various shapes.

The structure body 100 provided with the dynamic position control system according to the present invention is installed at the lower end of the buoyancy holding portion 130 and maintains the center of gravity of the floating breakwater at a vertically downward position, Direction and the horizontal direction and enables movement to the required position. The structure body 100 may be directly connected to the lower surface of the sofa block 120 when the structure body 100 functions as a buoyancy holding part. In this case, the buoyancy holding portion 130 may be omitted.

The sofa block 120 is installed at the upper end of the buoyancy holding part 130 or the structure body 100 to reduce the energy of an incoming wave. At this time, the sofa block 120 may be formed as a unit block of a top plate, a bottom plate, and a column, as well as various other types of sofa blocks.

The sensing unit 200 may be provided inside the structure body 100 or may be provided in the sofa block 120 or the buoyancy holding unit 130 as occasion demands.

The depth measuring means, which is one example of the sensing unit 200, measures the depth of the floating breakwater against the sea surface. At this time, the depth measuring means may be installed in the longitudinal direction from the sofa block 120 to the structure body 100 on the outer surface of the floating breakwater, and may detect the length of the sea surface or the length of the air exposed in the air, So that the depth of the floating breakwaters can be measured.

The driving unit 430 includes a driving motor 431, a driving shaft 435, and a propeller 433. The driving unit 430 includes a driving unit 431, a driving shaft 435, and a propeller 433. ). Therefore, the sofa block 120 connected to the structure body 100 moves in the vertical direction or the horizontal direction by the propulsion force generated by the rotation of the propeller 433, thereby controlling the dynamic position.

At this time, in order to control the propulsion unit 400 according to the value measured by the sensing unit 200, the control unit 400 receives the measurement value of the sensing unit 200 and outputs a command signal to the propulsion unit 400 through comparison and analysis The controller 300 sets the depth at which the floating breakwater is submerged in the sea surface to the reference depth in the reference state and sets the depth measured by the depth measuring means, It is possible to control the direction of the propulsive force and the intensity of the propulsive force according to the result in comparison with the depth.

For example, if it is determined that the floating breakwater is deeper or shallowly immersed in the sea surface than the reference depth by the depth measuring means, the control unit 300 determines that the driving force of the driving unit 430, which controls the position in the vertical direction, Direction and the intensity of the thrust force.

The sensing unit 200 measures the vertical direction of the floating breakwater, that is, the depth or the position in the horizontal direction, that is, the position, and measures the tilted direction and angle of the floating breakwater with respect to the predetermined reference direction It is possible. For example, it is possible to set the direction in which the float breakwater is directed to a certain point on the land in the standard direction, and the direction and the angle in which the floating breakwater floats in the sea tilt with respect to the reference direction.

At this time, the sensing unit 200 measures how much the direction of the front face of the float breakwater deviates from the reference direction by the left and right angles, and measures how much the floating breakwater is inclined up and down Can be measured. In this case, the control unit 300 can float the float breakwater from the sea to the established state by individually controlling the direction of the propulsive force and the direction of the propulsive force based on the direction and angle measured by the sensing unit 200 have.

In addition, the dynamic position control system of the floating structure according to the present invention may further include a reference position storage unit (not shown) and a current position measurement unit, and based on a GPS (Global Positioning System) signal, It is possible to store coordinates of a specific position set to moor as a reference position or to measure the current position of the floating breakwater.

At this time, the controller 300 compares the current position measured by the current position measuring unit with the reference position stored in the reference position storage unit, and based on the comparison result, . At this time, the floating breakwaters may be rotated by individually controlling the intensities of the propulsive forces and the directions of the propulsive forces by the plurality of the propulsion units 400.

Fig. 5 shows another example in which a dynamic position control system of a floating structure according to the present invention is applied to an aquaculture facility. For example, in the case of a cage aquaculture facility, a buoyancy holding portion 100 is provided to float the upper frame and the upper frame from which the operator can move. At this time, the dynamic position of the aquaculture facility is controlled by controlling the buoyancy maintaining unit 100 in the vertical direction and the horizontal direction by using the buoyancy holding unit 100 as the structure body 100 according to the present invention.

A control unit 300 for controlling the propulsion unit 400 and a sensing unit 400 for measuring the vertical and horizontal positions of the aquaculture facility, The dynamic location of the aquaculture facility can be controlled by providing the unit 200.

In particular, in the case of aquaculture facility, it is often necessary to move according to the flow of the algae and the condition of the sea floor. Therefore, the depth of the vertical direction is adjusted using the dynamic position control system according to the present invention, It can be facilitated.

Further, in the case of aquaculture facility, the structure body 100 to which the dynamic position control system is applied may be used as a buoyancy holding unit as shown in FIG. 5, and may be further connected to the existing buoyancy holding unit, The dynamic location of the aquaculture facility may also be controlled.

The dynamic position control system of the floating structure according to the present invention may be configured to include one or more servers 500. [ That is, the system can be managed by transmitting and receiving control signals or status information of the sensing unit 200, the control unit 300, and the propelling unit 400, and information generated in each situation can be transmitted to a user or built in a database It is.

In addition, the server 500 may be provided as a cloud server, and may transmit status information and data to a user terminal. Accordingly, the dynamic position control system of the floating structure according to the present invention may be configured to include one or more display portions 600. [

By providing the server 500, it is possible to check and control the state of floating floating structures far from the place where the user resides, and at the same time, it is possible to perform dynamic position control of several floating structures.

The display unit 600 is provided to allow the user to recognize and control the control and current state of the sensing unit 200, the control unit 300, and the propelling unit 400 through the server 500 The display unit 600 is provided as a computer, a portable terminal, and various devices.

The display unit 600 may be a touch screen or a tablet and may transmit a control signal directly to the control unit 300 after the user confirms the information received from the server 500, The control unit 300 and the propulsion unit 400 may be controlled.

In addition, the data transmitted to and received from the server 500 may be accumulated or transmitted to the controller 300 to inform the user of the environment or the situation of the area where the structure body 100 is installed.

The communication between the server 500 and the sensing unit 200, the controller 300, the propulsion unit 400 and the display unit 600 may be performed using wireless communication, for example, an FBMC / QAM-SFBC system, In beacon, infrared communication, Bluetooth, ZigBee, or the like.

In this way, the dynamic position of the floating floating structure is measured, compared and analyzed, and the position of the floating structure in the horizontal direction or the vertical direction is controlled by controlling the propulsion unit, The dynamic position of the floating structure can be controlled more stably and easily than the conventional control method.

6 shows the relationship between the sensing unit 200, the control unit 300, the propelling unit 400, the server 500, and the display unit 600 for realizing the dynamic position control system of the floating structure, FIG. That is, the system according to the present invention includes a first structure 10 including the sensing unit 200, the control unit 300, and the propulsion unit 400, or the first structure 10 including the server 500 and the display unit 600 2 structure (30).

The dynamic structure control system of the floating structure according to the present invention may be implemented by the first structure 10 alone or may be implemented by the second structure 30 supplemented by various background factors such as the user's requirements, It is. For example, only the first structure 10 may be applied where the size of the floating structure is small and the dynamic position is not greatly changed. In the case where the size of the floating structure is large, 2 structure (30).

7 is a flowchart illustrating a method of controlling a dynamic position of a floating structure according to the present invention. As shown in the figure, the dynamic position control method of the floating structure includes a sensing step (S20) of measuring the position of the structure body (100) in the vertical direction or the horizontal direction, a step of sensing the value measured in the sensing step (S20) (S30, S31) for controlling the position of the structure body by a comparison or a user's selection, and a control step (S30, S31) for changing the position of the structure body 100 in the vertical direction or the horizontal direction And a propelling step S50.

The propulsion unit 400 located below the water surface is provided at least one of the bottom surface and the side surface of the structure body 100 to thereby move the structure body 100 in the horizontal direction or the vertical direction .

The driving unit 430 includes a propeller 433, a driving motor 431 for rotating the propeller 433 and a driving shaft 435 and a driving unit 430 for driving the driving unit 430 And a power supply unit 410 for supplying power.

In addition to the propeller, the driving unit 430 may be provided with an impeller or a blade rotating by a pump (not shown), or may be replaced with various means for generating driving force capable of moving in other fluids.

The power unit 410 may be provided from at least one of an electric device such as a battery or a small power generation facility, or a wind power, a solar heat, a wave, or a tidal power using a natural environment. The power supply unit 410 may be provided inside the structure body 100 to supply power to the driving unit 430 or may be powered by a wireless power transmission device, as the case may be.

The sensing step S20 may use at least one of a GPS, a differential position meter (DGPS), an MRU, a laser reflector, a microwave reflector, and a gyroscope.

The dynamic position control method of the floating structure according to the present invention may further include a display step S60 of informing the state information of the propulsion unit 400 according to the value measured in the sensing step S20 or the propulsion step S50 And the display step S60 may control the propulsion unit 400 directly by using a touch screen or a tablet.

The method may further include storing (S10) dynamic location information of a predetermined floating structure before the sensing step (S20), wherein the dynamic location information of the stored floating structure is stored in the sensing step (S20) And can control the propulsion unit 400 in comparison with the measured value.

And a server step S61 for transmitting and receiving control signals and data of the sensing step S20, the pushing step S50, and the control steps S30 and 31, respectively. The data transmitted and received in the server step S61 may be accumulated and transmitted to the user or information on the environment and the situation of the area where the structure body 100 is installed.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and simple substitution, modification and alteration within the technical spirit of the present invention will be apparent to those skilled in the art.

The system and method for dynamic position control of a floating structure according to the present invention include a sensing unit, a control unit, and a propulsion unit to facilitate position control and movement of a structure in a vertical direction and a horizontal direction, The present invention can be applied to a dynamic position control system and method of a floating structure that can facilitate utilization.

100: Structure body 120: Sofa block
130: Buoyancy maintenance part 140: Facility
200: sensing unit 300:
400: Propelling unit 410: Power unit
430: driving part 431: driving motor
433: propeller 435: drive shaft
500: a server 600:

Claims (14)

A dynamic position control system for a floating structure,
Structure body;
A sensing unit for measuring a position of the structure body in a vertical direction or a horizontal direction;
A propulsion unit for changing a position of the structure body in a vertical direction or a horizontal direction; And
A control unit for comparing a value measured by the sensing unit with a predetermined value or controlling the propulsion unit by a user's selection; / RTI >
Wherein the propulsion unit is located below the water surface and is provided on at least one of a bottom surface and a side surface of the structure body, thereby moving the structure body in a horizontal direction or a vertical direction.
The method according to claim 1,
Wherein the propulsion unit is provided with a power unit and a driving unit, and the driving unit is provided with a driving motor and a propeller connected to the driving motor, or a pump impeller or a blade.
3. The method of claim 2,
Wherein the power source unit is provided with a power source from at least one of wind power, solar heat, and wave power to tidal power generation. The method according to claim 1,
Wherein the sensing unit is provided on at least one of a GPS, a DGPS, an MRU, a laser reflector, a microwave reflector, and a gyroscope. system.
The method according to claim 1,
Wherein the structure body is provided on at least one of a float breakwater, a barge line, and an aquaculture facility.
The method according to claim 1,
A display unit for informing the state information of the pushing unit to the value measured by the sensing unit; Further comprising:
Wherein the display unit is provided as a touch screen or a tablet, and allows the user to directly control the propulsion unit by referring to a value measured by the sensing unit. The method according to claim 1,
A server for transmitting and receiving data between the sensing unit, the propulsion unit and the control unit; Lt; / RTI >
Wherein data transmitted to and received from the server is accumulated and transmitted to the control unit in the form of an alarm about the user or information on the environment and the situation of the area where the structure body is installed.
A dynamic position control method for a floating structure,
A sensing step of measuring a position of the structure body in a vertical direction or in a horizontal direction;
A control step of comparing a value measured in the sensing step with a preset value or controlling a position of the structure main body by a user's selection; And
A driving step of changing the position of the structure body in the vertical direction or the horizontal direction by the control step; / RTI >
Wherein the propulsion unit located below the water surface is provided on at least one of a bottom surface and a side surface of the structure body so as to move the structure body in a horizontal direction or a vertical direction.
9. The method of claim 8,
Wherein the propulsion unit is provided with a power unit and a driving unit and the driving unit is provided with a driving motor and a propeller connected to the driving motor or a pump impeller or a blade.
10. The method of claim 9,
Wherein the power source unit is provided with a power source from at least one of wind, solar, and wave power to tidal power generation.
9. The method of claim 8,
Wherein the sensing step uses at least one of a GPS, a DGPS, an MRU, a laser reflector, a microwave reflector, and a gyroscope. Way.
9. The method of claim 8,
Wherein the structure body is provided on at least one of a floating breakwater, a barge line, and an aquaculture facility.
9. The method of claim 8,
A display step of informing the state information of the propulsion unit according to the value measured in the sensing step or the propulsion step; Further comprising:
Wherein the display step allows the user to directly control the propulsion unit using a touch screen or a tablet. 9. The method of claim 8,
A server step of transmitting and receiving control signals and data of the sensing step, the propulsion step, and the control step; Lt; / RTI >
Wherein the data transmitted and received in the server step is accumulated and transmitted to the control step, wherein the information about the environment and the situation of the area where the structure body is installed is alerted to the user.

Images